Whole-Body Modeling and Hierarchical Control of a Humanoid Robot Based on Dual Quaternion Algebra.
Mariana de Paula Assis FonsecaBruno Vilhena AdornoPublished in: LARS/SBR (2016)
Keyphrases
- humanoid robot
- motion planning
- legged locomotion
- multi modal
- biologically inspired
- joint space
- human robot interaction
- motor control
- human robot
- fully autonomous
- motion capture
- motor skills
- walking speed
- manipulation tasks
- object recognition
- motor learning
- body movements
- human motion
- fourier transform
- computer vision
- inverted pendulum
- imitation learning
- control strategy
- rough terrain
- human body
- sensory feedback